Robotic nozzle

ABSTRACT

A nozzle apparatus in a distributed system controls the nozzle in the desired direction using a position-controlled motor and is controlled by a computer with pre-recorded or preset patterns. The apparatus may be a fountain apparatus, a sprinkler apparatus, or a pool apparatus where the nozzles of these apparatuses emit a pressurized liquid such as water. The position-controlled motor can be an inexpensive hobby servo, or an elaborate self-contained control system with a servomotor, and a computer commands the desired position of the motor with preset patterns. The preset patterns may have music along with control information of the nozzles, valves, lights, and pumps. An aesthetic water display is produced from the overall systems.

RELATED APPLICATIONS

The Patent application claims priority of Provisional Application No.61/196,166, filed on Oct. 15, 2008, the entirety of which isincorporated by reference herein.

TECHNICAL FIELD

The disclosure relates generally but not exclusively to water fountains,sprinkler systems, and pool systems that utilize liquid in an aestheticmanner.

BACKGROUND

Nozzles are used in many applications such as sprinkler systems,irrigation systems, fountains, faucets, pools, spas, etc. In themajority of these applications, the nozzle is stationary and does notmove. In some applications, such as the sprinkler or irrigation systems,the water drives the nozzle in a rotational motion.

Nozzles for water fountains have been around for centuries where thefountains add to the landscape and architecture. In the past decades,controlling the lighting, the sound, and water flow has been added toenhance the appeal of fountains. U.S. Pat. No. 3,907,204 by Przystawikdiscloses a mechanical arrangement to have the nozzles using a singlemotor. For different spray patterns, a mechanical linkage needs to bechanged. U.S. Pat. No. 5,078,320 by Fuller shows a hydraulic-controlledmotor to position a laminar flow nozzle at different angles. U.S. Pat.No. 6,053,423 by Jacobsen et al. discloses an automated control systemto control a nozzle and lights in two degrees of freedom. Theservo-motors and automated control system are very sophisticated andcomplex systems. The servo-motors, the valves, the piping, components,and automated control system are very expensive. Furthermore, theJacobsen system requires significant effort to re-program and tochoreograph the nozzles with the music. The most famous application ofthis system is the water show at the Bellagio Hotel & Casino in LasVegas, Nev. These water shows give a pleasing effect when the waterfountains are synchronized to each other and to the music. U.S. Pat. No.6,276,612 B1 by Hall discloses a fountain control system which controlsvariable speed pumps with an incoming audio signal, but no control ofthe position of the nozzle is disclosed.

Nozzles for sprinklers exist in all kinds of construction, sizes, andmechanisms. There are “pop-up” rotary nozzles used in sprinkler systemwhich are contained in a housing unit buried in the ground which pop-upwhen water pressure is applied. A majority of these sprinklers use waterpressure to move the sprinkler nozzle. With these systems, there is avery limited flexibility to modify the flow rate or sprinkler nozzle.Once the sprinkler system is installed, the sprinkler nozzle needs to bereplaced or manually adjusted to provide different patterns or waterrate to certain areas. Also, with a rotary sprinkler mechanism, thesprinkler patterns are not synchronized and do not provide an estheticappearance when the sprinklers are on.

U.S. Pat. No. 5,280,854 by Das shows a single robotic sprinkler headcontrolled by a computer to replace current underground pipes andsprinklers. Das discloses replacing a current distributed concept with asingle unit. U.S. Pat. No. 6,336,596 B1 by Katzman et al. discloses anelectrically operated sprinkler to replace the existing rotary sprinklerdriven by water flow by electrical motors to allow full water pressureto be used. Katzman et al. uses a multiple toothed wheels which may besynchronized between the two internal motors using a mechanical camrolerto obtain a specific pattern. There is no computer to control thesprinkler pattern or synchronize the different sprinkler heads together.U.S. Pat. No. 7,051,952 B2 by Drechsel shows an irrigation water nozzlecontrolled by a jet interrupter and diverter arm. Drechsel discloses asingle unit controlled by computer to irrigate a plant field. U.S. Pat.No. 6,402,048 by Collins discloses stepper motors controlled by apre-programmed microprocessor to position the sprinkler nozzle at thedesired position. There is no central control of position of thesprinkler nozzle, but individual control with external programming toolsfor providing information. Therefore, there can be no synchronization ofthe different sprinkler nozzles. U.S. Patent Application 2007/022,1750A1 by Roberts discloses a microprocessor-controlled motor/solenoidcombination where the motor rotates the nozzle in a given direction andthe solenoid controls the flow rate to the nozzle base on nozzleposition. There is no position control of the motor and no way ofsynchronizing the position of different sprinkler nozzles.

SUMMARY OF DISCLOSURE

An apparatus in a distributed system comprises a nozzle and aposition-controlled electric motor. The position-controlled electricmotor is attached to the nozzle to control a direction in which thenozzle emits a pressurized liquid. The computer, which is connected viaa wired or wireless to the position-controlled motor, is configured toprovide position-controlled motor one or more position signals based onone or more patterns. The apparatus may be, for example, a fountainapparatus, a sprinkler apparatus, or a pool apparatus. Theposition-controlled electric motor may be, for example, a hobby servo, astepper motor with dedicated control system, or a servo motor with adedicated control system. Optionally, the apparatus may further comprisean adjustable valve to vary the pressure of said pressurized liquiddelivered to said nozzle. The computer may be, for example, a PersonalComputer, a dedicated computer, or an embedded computer. The apparatusmay optionally further comprise a sound system capable of producingmusic synchronized with motion of the nozzle and/or a software programdenoted as a MIDI sequencer to control one or more of music, lights,valves, or nozzles in the distributed system.

In another respect, an apparatus in a distributed system comprises anozzle having a direction in which a pressurized liquid is emitted and ahobby servo attached to said nozzle to control the direction of saidnozzle. The apparatus may be, for example, a fountain apparatus, asprinkler apparatus, or a pool apparatus. The apparatus may optionallycomprise means associated with the pressurized liquid to varying thepressure to said nozzle and/or a computer which controls the directionof the nozzle. The apparatus may also optionally comprise a sound systemcapable of producing music synchronized with movement of the nozzleand/or a software program denoted as a MIDI sequencer use to controlmusic, lights, valves, or nozzles.

A fountain system comprise a plurality of position-controlled nozzlesthrough which flows a pressurized liquid and a controller configured tosynchronize motion of said nozzles with a preset program. The controllermay be or comprise, for example, a computer, PC, a dedicated computer,or an embedded computer. The preset program may, in one embodiment, bestored control and music information.

A sprinkler apparatus in a distributed system comprises an inlet waterpipe connected to water under pressure, an outlet water nozzle, and aposition-controlled electric motor for rotating said nozzle to a desiredposition based on said received control signals. The position-controlledelectric motor may be, for example, a hobby servo, a stepper motor withdedicated control system, or a servo motor with a dedicated controlsystem. The apparatus may optionally further comprise one or more of thefollowing: means associated with the pressurized liquid to varying thepressure to said nozzle; a computer which controls the direction of thenozzle via transmitted control signals; a sound system capable ofproducing music synchronized with motion of the nozzle; and/or asoftware program denoted as a MIDI sequencer use to control music,lights, valves, or nozzles.

A sprinkler system in a distributed system comprises a water feed line,a plurality of sprinkler control heads, and a control means forsynchronizing the said sprinkler control heads.

A method operates a nozzle that emits pressurized water. The methodcreate an electric signal encoding angular position information andprovide the electric signal to a position-controlled electric motorattached to the nozzle, thereby controlling a direction in which thenozzle emits the pressurized water. The method may also optionally playmusic in coordination with motion of the nozzle. The method may alsooptionally illuminate one or more lights in coordination with motion ofthe nozzle.

In yet another respect, an apparatus comprises a means for emitting apressurized liquid in a given direction, a means for controlling thegiven direction in response to an open-loop position control signal, anda means for generating a sequence of the open loop position controlsignals so as to cause desired motion of the means for emitting whileemitting the pressurized liquid. By way of example and not limitation,the means for emitting a pressurized liquid in a given direction may beany of the nozzles described herein, the means for controlling the givendirection in response to an open-loop position control signal may be anyof the motors and/or servos described herein, and the means forgenerating a sequence of the open loop position control signals so as tocause desired motion of the means for emitting while emitting thepressurized liquid may be any of the computers with the softwareprograms or patterns described herein.

LIST OF FIGURES

FIG. 1 is a detailed perspective view of the apparatus.

FIG. 2 is a detailed view of the apparatus in one application.

FIG. 3A is a block diagram of the components of the system in oneembodiment.

FIG. 3B is a detailed perspective view of the components of the systemin an application.

FIG. 3C is a wiring diagram showing a high level view of the attachmentsof the components.

FIG. 3D is a detailed perspective of the desired effect from operatingthe components in a system.

FIG. 4A is an isometric view of one embodiment of the apparatus wherethe nozzle is attached with an arm.

FIG. 4B is a top view of one embodiment of the apparatus where thenozzle is attached with an arm.

FIG. 4C is a side view of one embodiment of the apparatus where thenozzle is attached with an arm.

FIG. 4D is a detailed perspective view of the apparatus of FIG. 4A in anapplication.

FIG. 5A is an isometric view of one embodiment of the apparatus wherethe nozzle is attached in horizontal direction.

FIG. 5B is a top view of one embodiment of the apparatus where thenozzle is attached in horizontal direction.

FIG. 5C is a side view of one embodiment of the apparatus where thenozzle is attached in horizontal direction.

FIG. 5D is a detailed perspective view of the apparatus of FIG. 5A in anapplication.

FIG. 6A is an isometric view of one embodiment of the apparatus wherethe nozzle is attached in vertical direction with circular fixture.

FIG. 6B is a top view of one embodiment of the apparatus where thenozzle is attached in vertical direction with circular fixture.

FIG. 6C is a side view of one embodiment of the apparatus where thenozzle is attached in vertical direction with circular fixture.

FIG. 6D is a detailed perspective view of the apparatus of FIG. 6A in anapplication.

FIG. 6E is an isometric view of one embodiment of the apparatus wherethe nozzle is attached in vertical direction with gears.

FIG. 6F is a top view of one embodiment of the apparatus where thenozzle is attached in vertical direction with gears.

FIG. 6G is a side view of one embodiment of the apparatus where thenozzle is attached in vertical direction with gears.

FIG. 7A is an isometric view of an apparatus with twoposition-controlled motors.

FIG. 7B is a top view of an apparatus with two position-controlledmotors.

FIG. 7C is a side view of an apparatus with two position-controlledmotors.

FIG. 7D is a side view of an apparatus with two position-controlledmotors mounted closely together.

FIG. 7E is a top view of an apparatus with two position-controlledmotors mounted closely together.

FIG. 7F is a side view of an apparatus with three position-controlledmotors.

FIG. 8A is an isometric view of the valve controlled by aposition-controlled motor.

FIG. 8B is a detailed side view of the valve controlled by aposition-controlled motor.

FIG. 9A show an embodiment of the system components with a wirelessconnection between the computer and the converter.

FIG. 9B show an embodiment of the system components with dedicatedcomputer.

FIG. 10A illustrates a software program with set of patterns forcontrolling components.

FIG. 10B illustrates a software program with set of patterns controllingthe nozzles and valves.

FIG. 11A is a table of standard digital MIDI data for music notes.

FIG. 11B is a table of standard control messages in the MIDI standard.

FIG. 12A shows three channels of data for controlling instruments andcomponents.

FIG. 12B shows a single channel of data for controlling instruments andcomponents.

FIG. 13 shows a block diagram of one embodiment of the converter and theattached components.

FIG. 14A shows a laptop computer attached to external speakers and awired connection to components.

FIG. 14B is a block diagram of one embodiment of the computer andexternal attachments to components.

FIG. 14C is a block diagram of another embodiment of the computer withexternal attachments.

FIG. 15A is a top view of components in an application of with one setpattern.

FIG. 15B is a top view of components in an application with another setpattern.

FIG. 16 is a top view of the placements of the apparatuses and centernozzles in an application.

FIG. 17A is a top view of the placements of the apparatuses in acircular arrangement.

FIG. 17B is a top view of the placements of the apparatuses in a squarearrangement.

FIG. 17C is a top view of the placements of the apparatuses in arectangular arrangement.

FIG. 17D is a top view of the placements of the apparatuses in anelliptical arrangement.

FIG. 17E is a top view of the placements of the apparatuses in afree-form arrangement.

FIG. 18 is a block diagram of a fountain system with wireless convertercontrolling the components.

FIG. 19 is a top view of a fountain system showing the apparatusesarranged in a body of water.

FIG. 20 is a side view of a fountain system in a pond application.

FIG. 21 is a side view of the enclosed apparatus with a singleposition-controlled motor for controlling the direction of the sprinklernozzle.

FIG. 22A is a side view of the enclosed apparatus with aposition-controlled motor for controlling the direction of the sprinklernozzle and an additional position-controlled motor for controlling theangle from horizontal.

FIG. 22B is a side view of the enclosed apparatus with aposition-controlled motor for controlling the direction of the sprinklernozzle and an additional valve for controlling the flow rate.

FIG. 22C is a side view of the enclosed apparatus with aposition-controlled motor for controlling the direction of the sprinklernozzle and a nozzle attachment with attached lights.

FIG. 22D is a side view of the enclosed apparatus with aposition-controlled motor for controlling the direction of the sprinklernozzle using a wireless connection.

FIG. 23 is a block diagram of the remote control component of FIG. 22D.

FIG. 24A is a pictorial diagram of the fountain system with enclosedapparatuses controlled by a dedicated computer.

FIG. 24B is a pictorial diagram of the sprinkler system with enclosedapparatuses controlled by a dedicated computer.

FIG. 25 is a pictorial diagram of the sprinkler system with enclosedapparatuses controlled by a computer and converter.

FIG. 26 is a pictorial view of a sprinkler system with enclosedapparatuses installed in a large area such as a golf course.

FIG. 27 is side view of a pool system with enclosed apparatuses and adedicated computer.

DESCRIPTION OF EMBODIMENTS

With reference to the above-listed drawings, this section describesparticular embodiments and their detailed construction and operation.The embodiments described herein are set forth by way of illustrationonly and not limitation. Those skilled in the art will recognize inlight of the teachings herein that there is a range of equivalents tothe example embodiments described herein. Most notably, otherembodiments are possible, variations can be made to the embodimentsdescribed herein, and there may be equivalents to the components, parts,or steps that make up the described embodiments.

As one skilled in the art will appreciate in light of this disclosure,certain embodiments are capable of achieving certain advantages over theknown prior art, including some or all of the following: (1) providing asmall-scale (e.g., residential) sprinkler or fountain system with anentertainment effect to give a pleasing effect similar to sophisticatedLas Vegas water shows, which are not practical or affordable for amajority of applications; (2) avoiding the expense of a sophisticatedfountain system; (3) avoiding the hardship of creating choreographedsongs for use with a sophisticated fountain system; (4) enabling use ofinexpensive and easy-to-operate parts with a fountain or sprinklersystem, such parts including, for example, position-controlled motorssuch as hobby servos or the like and MIDI music software; and (5)providing flexibility to position a nozzle in a sprinkler or fountainsystem. These and other advantages of various embodiments will beapparent upon reading the remainder of this section.

For the sake of clarity and conciseness, certain aspects of componentsor steps of certain embodiments are presented without undue detail wheresuch detail would be apparent to those skilled in the art in light ofthe teachings herein and/or where such detail would obfuscate anunderstanding of more pertinent aspects of the embodiments.

FIG. 1 shows a preferred embodiment for a nozzle apparatus 35 utilizinga position-controlled motor 36, a nozzle 38, an attachment mechanism393, a pressurized liquid in substantially flexible pipe or hose 66,mounting arrangement 37, and power and communication wire(s) or link 81.Only one link 81 is shown for clarity but a single or multiple wires maybe employed. A pressurized fluid 510 such as water goes through the hose66 and exits out the nozzle 38. The direction of the fluid 510 iscontrolled by the position-controlled motor 36 over 180 to 360 degreesfrom the center of the gear 41 via the attachment mechanism 393 andnozzle 38. The attachment mechanism 393 connects the output of theposition-controlled motor 36 with the nozzle 38. The direction signalinformation and power for the position-controlled motor 36 is via thecommunication link 81.

FIG. 2 shows the attachment of the nozzle apparatus 35 connected to abasin 500 and a programmable computer 100. The basin 500 can be aplastic container, a fiberglass structure, a pool structure, a concreteor brick structure or any type of fountain structure. In FIG. 2, thenozzle apparatus 35 is fasten to the basin 500 via fasteners 143 such asthreaded bolt, washer, and locknut in this embodiment to theposition-controlled motor 36 via the mounting arrangement 37. In otherembodiments, any numerous other alternative fastening mechanisms can beemployed. Examples of such alternate fastening mechanisms include butare not limited to welding, adhesive bonding, riveting, nailing,screwing, external clamping, etc. The pressurized fluid 510 is providedvia the hose 66 by a water source such as pump. In this example, thedirection of the nozzle 38 is controlled in this example to 180 degreemovement around the gear 41 center. The position-controlled motor 36controls the direction of the nozzle 38. The position-controlled motor36 is defined as a self-contained motor/sensor/controller system with amotor, sensor feedback, amplifier or driver, and control circuitry. Thecomputer 100 sends position commands via a wired communication link 81to the position-controlled motor 36 which is a self-contained controlsystem. The position-controlled motor control system drives the motor tothe desired commanded position and achieves this with internal feedback.The position-controlled motor 36 reduces the complexity of the overallsystem. Some examples of the position-controlled motor 36 are a hobbyservo, a stepper motor with a dedicated control system, or a servo motorwith a dedicated control system. Some manufacturers of the hobby servosare Traxxas of Plano, Tex., Futaba of Champaign, Ill., Hitec of Poway,Calif., Airtronics of Fountain Valley, Calif., and JR Radios ofChampaign, Ill. The position information is transmitted to theposition-controlled motor 36 by a protocol such as Radio-Controlledpulse-wide modulation, RC PWM, as in the hobby servo example. Otherprotocols can be used. The programmable computer 100, such as laptop PC,a desktop PC, or embedded PC, contains pre-set patterns or previouslyrecorded patterns for controlling the attached components. For example,as used herein, the term “computer” is defined as a machine thatmanipulates data according to a set of instructions. For example,pre-set patterns can control the direction of the position-controlledmotor 36 via the electrical communication link 81 from the computer 100.Optionally, the computer 100 can control the position-controlled motor36 in synchronization with music from a speaker 74. In this embodimentthe pre-set patterns and the music may be located on the computer 100 asa software computer program.

FIGS. 3A, 3B, 3C, and 3D show one embodiment of the fountain systemutilizing the nozzle apparatus 35. In FIG. 3A, the components are shownwith the computer 100. The computer 100 drives a converter 110 via awire communication link 88 which can be any protocol for communicatingbetween two electronic devices such as USB (Universal Serial Bus), MIDI(Musical Instrument Digital Interface), RC (Radio-Controlled) signals,RS485 (Recommended Standard 485), RS232 (Recommended Standard 232),Ethernet . . . etc. The computer 100 has the preset patterns for thenozzle apparatus 35, the valves 62, the lights 72, the pump 60, andother input/output components 76 in synchronization with the music whichis played out on the stereo speakers 74. The converter 110 changes theprotocol from the computer such as MIDI, Musical Instrument DigitalInterface, to a protocol to drive the components such as PWM. Someexamples of the converter 110 are MIDI 1.2 unit from Yost Engineering,Inc. of Portsmith, Ohio, SRV-4 unit from J-Omega Electronics from UnitedKingdom, or MD24 MIDI Decoder from Highly Liquid of Columbus, Ohio. Theconverter 110 controls the nozzle apparatus 35 via electrical lines 181,the valves 62 via electrical lines 182, the lights 72 via electricallines 184, the pump 60 via electrical lines 183, and the input/outputdevices 76 via electrical lines 185.

FIG. 3B shows the components of FIG. 3A with the basin 500 to form afountain system. The basin 500 contains several nozzle apparatuses 35which are distributed around the basin 500, controllable lights 72, awater pump 60, and controllable valves 62 and 621. Each nozzle apparatus35 provides a liquid stream 510 from the hose 66 and each nozzleapparatus 35 is controlled by the computer 100 via the converter 110 andelectrical lines 181. The valves 62 and 621 control the liquid flow ratefor the nozzle apparatus 35 and the center fountain 65, respectively.The lights 72 are also controlled by the computer 100 via the converter110 and electrical lines 184. The pump 60, which can be a constant orvariable speed pump, can also be controlled by the converter 110 viaelectrical lines 183.

For this embodiment, the sequence of the water flow is from the pumpinlet 61 through the pump 60 and valves 62 and 621 to the fountainnozzles 38 and 65, respectively, via pipes 66 and 64. The water exitsout the nozzles back into the basin 500 where the cycle repeats. Thevalve 62 controls the water flow to the nozzle apparatus 35 and valve621 controls the water flow to the center fountain 65. The Pipe 66 iscan be a flexible or rigid pipe to the nozzle apparatus 35. When thepipe 66 is rigid pipe, the interface to the nozzle apparatus 35 may beor is preferably via a flexible hose or a gimbaled arrangement. Thevalve 621 controls the water flow through the center fountain nozzle 65.The direction of the nozzle apparatus 35 is controlled individually bythe computer 100 via the converter 110 and electrical lines 181.

FIG. 3C shows a high level wiring schematic of the embodiment in FIG. 3Bwhere electrical wires 181 connect the individual nozzle apparatus 35 tothe converter 110. In this embodiment, there are several electricalwires 181 to individually connect each nozzle apparatus 35 to theconverter 110. In FIG. 3C, the electrical wires 182 controls valves 62and 621 individually. Electrical wire 183 controls the pump 60 which canbe a variable speed or constant speed pump. Electrical wires 184 controlthe lights 72. In this example, four lights are individually controlled.The power 111 for the converter 110 can be household power supply 110VAC, a low voltage AC/DC power supply, or combination.

FIG. 3D shows the desired results for controlling several fountainapparatuses 35 in a distributive system and the center fountain 65. Theliquid 550, typically water, in the basin 500 is pressurized via thepump 60 to the nozzle apparatus 35 and the center fountain 65. Thenozzles on these fountain apparatus provide a liquid stream 510 fromseveral fountain apparatuses 35 and liquid stream 520 from the centerfountain 65. The flow rate and direction of these fountain apparatus maybe choreographed to the music on the computer 100 shown in FIGS. 3A and3B to give an aesthetically pleasing effect.

FIGS. 4A, 4B, 4C, and 4D show another embodiment of the nozzle apparatus35. FIG. 4A shows an isometric drawing of a rigid pipe 661 connected tothe apparatus via an attachment arm 395. The position-controlled motor36 controls the nozzle 38 via the output gear 41 and attachment arm 395.The position-controlled motor 36 is controlled via communication wire(s)81 from a computer 100 (not shown). FIGS. 4B and 4C show the top andside views, respectively, of this embodiment. FIG. 4D shows oneimplementation of attaching the nozzle apparatus 35 to the basin 500. Inthis design, the position-controlled motor 36 is attached by bolts 43via the mounting holes 37 to the top to the basin 500 similarly as FIG.2. The attachment arm 395 is mounted on the gear shaft 41 which isattached to the nozzle 38 and the pipe 661. However, the pipe 661 inthis embodiment is coming directly from the water container insteadoutside the water container as shown in FIG. 2.

FIGS. 5A, 5B, 5C, and 5D show another embodiment of the nozzle apparatus35. This embodiment is similar to FIG. 2 except for an attachmentmechanism 391 to the position-controlled motor 36. The attachmentmechanism 391 allows for an extended nozzle 38 from the output gear 41.FIG. 5A shows an isometric view of the embodiment and FIGS. 5B and 5Cshow the top and side views, respectively. With the extended mechanism391, the fountain apparatus 35 can be mounted on the side of the basin500 as shown in FIG. 5D. A hole is made in or through the side of thebasin 500 to allow the nozzle 38 to extend from the side. In thisembodiment, the majority of the fountain apparatus is hidden from view.

FIGS. 6A, 6B, 6C, and 6D show another embodiment of the nozzle apparatus35. In the isometric view shown in FIG. 6A, a different attachment tothe position-controlled motor 36 to the nozzle 38 is illustrated. Anattachment mechanism 392 which is shown as an elliptical disc isattached to the nozzle 38 and the output gear 41. This attachmentmechanism 392 can be any shape such as circle, elliptical, square,narrow arm, triangular shape, etc. The geometric shape of the mechanism392 can two or three dimensional. FIGS. 6B and 6C show the top and sideviews for this embodiment. In FIG. 6D, the nozzle apparatus 35 issubmerged under the water 550 and is mounted on a platform 371. Theposition-controlled motor 36 is waterproof device such as Traxxas Model2056. The nozzle 38 is only exposed above the water level 550. With thisembodiment, the fountain apparatus can be mounted in a pool, pond, lake,or any water body.

FIGS. 6E, 6F, and 6G show another embodiment where the output gear 41 isattached to a gear 398. FIG. 6E is an isometric view of the embodiment.FIG. 6F is the top view of the embodiment and FIG. 6G is the side viewof the embodiment. The gear 398 controls the rotation of the nozzle 38via a gear 399. Since the nozzle 38 rotates around the gear 399, thepipe 662 is on a swivel arrangement on pipe 663. With this embodiment,the hose 663 is stationary and pipe 662 rotates via gear 399, and thenozzle 38 rotates with pipe 662. This embodiment allows mounting of thenozzle apparatus 35 to be used in close quarters.

FIGS. 7A, 7B, and 7C show another embodiment of the nozzle apparatus 35.In the isometric view shown in FIG. 7A, two position-controlled motors36 and 362 are used. The water flow from a straight nozzle 381 iscontrolled in two different axes. The position-controlled motor 36controls the movement around the output gear 41, as shown in the topview in FIG. 7B, and position-controlled motor 362 controls the movementaround an output gear 43 in a different axis, as shown in the side viewof FIG. 7C. An Attachment arm 397 attaches the output gear 41 from theposition-controlled motor 36 to the position-controlled motor 362. Anattachment mechanism 394 connects the output 43 from theposition-controlled motor 362 to the nozzle 38. The hose 66, which canbe a flexible or rigid pipe, is attached to the straight nozzle 381 toprovide pressurized liquid. Controlling both axes provides for a moreflexible design and allows for more elegantly choreograph water showswith (or without) the music.

FIGS. 7D and 7E show another embodiment of the nozzle apparatus 35. Thisembodiment is similar to the FIG. 7A embodiment in operation, but theposition-controlled motors 36 and 362 are mounted directly to eachother's output shafts. As shown in FIG. 7D, the position-controlledmotor 362 is mounted on top of position-controlled motor 36 via anattachment mechanism 396. The straight nozzle 381 is mounted toposition-controlled motor 362 via attachment mechanism 394.Communication and power links 81 and 811 connect position-controlledmotors 36 and 362, respectively. FIG. 7E is the top view of thisembodiment.

FIG. 7F show another embodiment of the nozzle apparatus 35 which usesthree position-controlled motors 36, 362, and 364. As similar to theembodiment in FIG. 7D, the position controlled motor 36 and 362 allowfor two degrees of movement. With addition of the thirdposition-controlled motor 364 (which is attached to position-controlledmotor 36 via its output shaft 45 via attachment mechanism 396), thestraight nozzle 381 can be raise or lower into the water.

FIGS. 8A and 8B show an isometric view and side view, respectively, ofthe position-controlled ball valves 62 and 621. A position-controlledmotor 36 is mounted on the ball valve handle 662. A shaft 41 extendsinto the handle 389 that controls the ball valve 663 position shown inFIG. 8B. A rapid response of the position-controlled motor 36 allows forsynchronization of the water flow to the music. The position-controlledmotor 36 is attached to the ball valve 662 by fasteners to the mountingholes 37 of the position-controlled motor 36, which is controlled by theelectrical wire(s) 82.

FIGS. 9A and 9B show other embodiments for controlling the components.FIG. 9A shows a computer, such as a Laptop PC 100, communicatingwirelessly via transceivers 114 and 112 (one on or in the laptop PC 100and one on or in the converter 110) to control the nozzle apparatus 35,valves 62, lights 72, and other components 90, e.g. such as pump 60.Here, the communication link to from the computer 100 to the converter110 is wireless. The computer 100 can also drive music to the speakers74 in synchronization with the components for the water fountain. Powerto the converter 110 is from electrical lines 111. A sensor 76, shownattached to the converter 110 via electrical lines 185, providesfeedback information to the computer 100. The sensor 76 can be a motionsensor, a light sensor, a heat sensor, a temperature sensor, a moisturesensor, level sensor, wind sensor, etc. Some examples for using thesesensor 76 is as a motion sensor which could start a new song in asequence, as a light sensor for turning the lights on at night, as awind sensor for changing the water flow rate, and as a level sensor forindicating the water level.

FIG. 9B shows a standalone computer 1110 directly driving the componentswithout a converter. The standalone computer 1110 contains the circuitryto provide the proper protocol for each component. For example, thecomputer 1110 contains audio circuitry to drive the speakers. Thecomputer 1110 has the capability to provide the position information tothe nozzle apparatus 35 and valves 62. The computer 1110 contains drivecapability to turn on the lights and drive other components 90 such as apump. The computer 1110 may have the ability to input sensor informationsimilarly as the general computer 100. In this embodiment, thecomponents may have the drive capability built into the components, andthe computer 1110 provides the signal information to the components.

FIGS. 10A and 10B illustrate a display a software program 150 executingon the computer 100. The software program may be, for example, a MIDISequencer, which synchronizes the musical instruments with the directionof the nozzle apparatus 35, the brightness of the lights 72, and/or theflow of the water via the valves 62 and 621. These software programs arecommercially available for recording and playing musical instrumentsfrom Apple Computer Company, Inc. of Cupertino, Calif. called Garagebandand Logic Pro, from Catwalk, Inc. of Boston, Mass. called Music Creatorand Sonar 7, from Ableton from Berlin, Germany called Ableton Live, fromDigidesign of Daly City, Calif. called ProTools, from MOTU, Inc. ofCambridge, Mass. called Digital Performer, and from Steinberg MediaTechnologies GmbH from Germany called Cubase 5. These software programscan also be used to control the nozzle apparatus 35, valves 62 and 621,lights 72, and other items in addition to playing musical instruments oraudio through the speakers 74. By synchronizing the direction of thefountain apparatus, the water flow, and the lights with the music, anentertainment value is achieved. As shown in FIG. 10A, preset patterns200 and 202 are for the Instruments #1 and #2, respectively. Thedirection of nozzle apparatus 35 is controlled by MIDI pattern 210.Audio Track #6 shown in pattern 220 is sequence with other MIDI or Audiotracks. Video and Lights 72 are also sequence with this music as shownin patterns 230 and 240, respectively.

FIG. 10B shows the software program 150 driving the direction of thefountain apparatus's 35 a, 35 b, 35 c, and 35 d via preset patternsshown as 218, 212, 214, and 216, respectively. The software program 150also controls the flow rate through valves 62 and 621 via presetpatterns shown as 250 and 252, respectively. The fountain apparatuses 35a, 35 b, 35 c, and 35 d are the same apparatus but positioned around abasin or pool and are controlled individually by each track.

FIG. 11A shows the standard digital protocol for the musical notes inthe MIDI standard. MIDI defines a protocol for each musical note bydefining the note such as middle C and the velocity of the note. TheMIDI standard was standardized in the early 1980's and later expanded tocontrol other audio parameters such as Pan and Modulation as shown inFIG. 11B.

In FIG. 12A, Instrument #1 which could be any musical instrument isdefined as Channel #1 denoted as block 300. The instrument was recordedvia the MIDI protocol. Each time a key is pressed, the note is recordedas an ON and the velocity of the key pressed will also be recorded todenote the volume. Other effects such as holding the key down for periodof time will provide length of time. Each time period, T0, T1, . . . ,T16 records the musical instrument. In addition to playing the music,one can use the MIDI protocol to control position-controlled motors,valves, lights, etc. FIG. 12A shows the direction of nozzle apparatus 35choreograph and recorded via channel #2 denoted as block 310 with themusical instrument #1 to provide synchronizing behavior with the musicand the fountain apparatus position. Likewise, the lights 72 via channel#3 denoted as block 340 were also choreographed with the music and thefountain apparatus to get the desired entertainment value.

Another example to utilize the MIDI protocol is to drive the servos orlights using the MIDI continuous controller messages as shown in FIG.11B. For example, the Continuous Controller #20, which has values 0-127,can be defined as the position-controlled motor output to control themotor movement from 0-180 degrees (or 0-360 degrees) where the scalewould be 1 to 1.5 ratio (value 20 would be 30 degrees under). Thiscontinuous controller messages could be recorded on separate channels300, 310, and 340 as in FIG. 12A, or a single channel 350 could be usedas shown in FIG. 12B. In FIG. 12B, the pulse width modulation, PWM, isthe output to the position-controlled motors or nozzle apparatus.

FIG. 13 shows the block diagram of one embodiment of the converter 110.The converter 110 contains a USB interface box 119 for connection to thecomputer 100 via electrical wires 88 which forms the communication linkand the onboard microcontroller 115. Microcontroller 115 can be anyavailable microcontrollers from manufacturers such as MicrochipInternational, Intel, Motorola, NEC, AMD, or Atmel. The microcontroller115 receives the control information from the computer 100 via theelectrical wires 88 and interface box 119 and outputs the controlinformation to the device via the drivers 113 to the lights 72, nozzleapparatus 35, valves 62, and other devices 90. Also, the devices can becontrolled wirelessly via the transceiver 112. In addition to drivingthe devices, the converter 110 can input sensor information such as themoisture detector 78. Other sensors such as motion, light, heat,temperature, solar, audio, visual are represented by an input device 76.The converter 110 may also have the capability to drive other componentswirelessly via a transceiver 117 and an antenna 1121.

FIG. 14A shows the high level block diagram of the computer 100 and theoutput connections for one embodiment. The output connections arethrough a serial or parallel network 88 to drive the converter 110 orthe components directly and the speakers 74.

FIG. 14B shows another embodiment of the computer 100 to control thedevices. Computer 100 has circuitry such as a sound generator circuitrywhich converts the recorded MIDI file or audio file to audio frequencieswhich drive the speakers 74. Likewise, the recorded MIDI channels withpreset patterns control the devices via the MIDI interface. The devicessuch as the nozzle apparatus 35 convert the MIDI protocol to control theposition-controlled motors base on the information on the recordedchannel while playing back the music and controlled channels. FIG. 14Cshows the computer 100 with the MIDI sequencer program driving orsensing information to the devices via wired or wireless protocols. Thewired protocols could be Ethernet, DMX (Digital MultipleX), USB, CAN(Controller Area Network), MIDI, RS485, PLC (Power Line Carrier), LIN(Local Interconnect Network), and TCP/IP (Transport ControlProtocol/Internet Protocol). In wireless embodiments or hybrid versions,available protocols include Wi-Fi (Bluetooth, wireless MIDI, wirelessDMX, Z-wave, Zig-Bee, or wireless USB. Other wireless or wire protocolscan be used such as RC, Radio Control, protocol or dedicated proprietaryprotocol.

FIGS. 15A and 15B show the fountain system with the wireless converter110 driving several of the fountain apparatuses 35, the valve 62 and thelights 72. In FIG. 15A, the fountain water streams 510 are synchronizedin a counterclockwise direction. In FIG. 15B, the fountain water streamsare synchronized in a clockwise direction.

FIG. 16 shows the fountain system with many nozzle apparatus 35 on theside of the basin 508 and two center fountain heads 65. The waterstreams 510 may be choreographed together and with the center fountainstreams 520.

FIGS. 17A-17E shows the fountain system with different shape basins withseveral fountain apparatuses 35 around the perimeter in a distributivemanner. FIG. 17A shows the round basin 500. FIG. 17B shows a squarebasin 501. FIG. 17C shows a rectangular-shape basin 502. FIG. 17D showsan elliptical basin 503 and FIG. 17E shows a free-form basin 504. Theseshapes are only examples of the different fountains that can be created.Other shapes can be used within the scope of these embodiments.

FIG. 18 shows the diagram of the fountain system utilizing thecomponents in a free-form pattern. A wireless converter 1120 drives thespeakers 74, several lights 72, several fountain apparatuses 35, thevalves 62 and 621, and the pump 60. The water flow in this free-formembodiment goes from the inlet 61 of the pump 60 to the valves 62 and621. The valve 62 controls the pressurized water to pipe 66 and valve621 controls the pressurized water to pipe 64. The pressurized water inpipe 66 exits through the nozzles 38 from the nozzle apparatus 35 andthe pressurized water in pipe 64 exits through the center fountainnozzle 65 as described earlier. However, the free-form fountain systemcan be installed in any pattern as shown in FIG. 19. The free-form waterstructure 505 such as a pond, pool, or small lake would contain similarcomponents as a defined shape, but installed in or near the middle ofthe water structure 505. FIG. 19 also shows the water pipe 64 connectedtogether with ‘T’ and ‘Y’ shape pipe connectors, 664 and 666,respectively.

FIG. 20 shows another embodiment for rigid or free-form structures usedon a pond or small lake. An enclosed nozzle apparatus 135 is connectedto the pressurized water via a pipe 512 from a pump 536. The lights 72,speaker 74, the enclosed nozzle apparatus 135, and pump 536 arecontrolled by an embedded computer 60. The speaker 74 driven byelectrical wire 524, the light 72 is controlled by a line 522, and theenclosed nozzle apparatuses 135 direction is controlled by lines 516 and517. A rock 534 and plants 532 are added for a pleasing effect.

FIG. 21 shows one embodiment of an enclosed nozzle apparatus 135. Inthis embodiment, the design is similar to an impact rotor sprinklerexcept in this embodiment, the nozzle is controlled by aposition-controlled motor 400 instead of by pulsating water. The wateris received via an inlet 360 and pushes up the pipe. The pressure of thewater retracts the spring 370 and raises the nozzle 380 above groundwhich has a cover 460 to prevent debris from entering the unit while notin use. The water is injected out of the nozzle 380. The direction ofthe nozzle 380 is controlled via the position-controlled motor 400 andgears 440 and 450. The gear 450 is attached to the pipe 340 which isattached to the nozzle 380. As the control information is transmittedacross wire(s) 840, the position-controlled motor 400 responds to thecontrol information and drives the nozzle 380 in the desired direction.The enclosure 320 covers the components from debris. Position-controlledmotor 400 is similar to the position-controlled motor 36 as describedearlier.

FIG. 22A shows two position-controlled motors 400 and 860.Position-controlled motor 400 controls the direction of the water streamin horizontal plane, and the position-controlled motor 860 controls theangle of nozzle 380 via gears 880. With both position-controlled motors400 and 860, the water stream can be directed at any area.

FIG. 22B shows another embodiment in which the internal valve 920controls the water flow. The position-controlled motor 400 controls thedirection of the water stream in horizontal direction via gears 440 and450, and the electrical wires 940 controls the flow rate via the valve920.

FIG. 22C shows another embodiment which contains lights 610 attached toa mounting ring 930 around the nozzle 380. These lights can be LEDs,lasers, or incandescent lights and are controlled by the line 840 alongwith the position-controlled motor 400.

FIG. 22D shows another embodiment which contains the position-controlledmotor connected to a receiver denoted as combination unit 480. FIG. 23shows the combination unit 480 which contains the position-controlledmotor 460 with output shaft 440, a receiver 588, and electrical powersource 528 such as a battery. In this embodiment, the nozzle apparatusis controlled via radio signals 1112 via a wireless communication link.

FIG. 24A shows a similar embodiment as shown in FIG. 18 except thenozzle apparatus are the enclosed nozzle apparatuses 135 arranged in adistributive system, rather than the nozzle apparatuses 35. Bothembodiments of the nozzle apparatus can be used in the differentconfigurations as shown in the examples described herein.

FIG. 24B shows the enclosed nozzle apparatuses 135 in a distributivesystem that is used in a sprinkler system where inlet water is attachedto a water supply 640 and the enclosed nozzle apparatuses 135 aresprinkler nozzle apparatuses.

In FIG. 25, a computer 100 controls the speakers via the onboard audiocard (standard with the majority of PCs and Laptops) and controls theother devices via the converter 110. In this configuration, the devicesare wired directly to the converter 110. Devices such as valves 62,enclosed sprinkler nozzles 135, and the device 122 are wired to theconverter 110. The Converter 110 may be connected to the computer 100via the electrical wires 88 such as USB. The computer 100 contains thesoftware program which controls the devices in time with the music suchas by use of a MIDI Sequencer as stated earlier. Other programs areavailable that can provide a proprietary protocol or other standardprotocols such as DMX. Besides controlling devices, the converter 110reads the sensor devices 122 and 120 and inputs the information to thecomputer 100. The computer 100 via the software program utilizes thesensor information to water certain areas more via the program or tospray an intruder. Sensor 122 can be a rain detector, a moisture sensor,a motion detector, a solar sensor, a light detector, an infrared camera,etc. Each sensor would provide a different capability of the system. Forexample, the rain detector would prevent watering the lawn or field inthe rain. The moisture detector would determine where the water isneeded the most. The solar or light detector would turn on the lights 72at night automatically. A motion sensor or infrared camera would detecta trespasser and orient the sprinklers at the intruder or animal toscare it off.

FIG. 26 shows one application of the invention installed on a golfcourse. The irrigation system has three zones with many enclosed nozzleapparatuses 135. Each enclosed nozzle apparatus 135 provides a spraypattern 800 and is wirelessly controlled by the computer 100. The valves62 are also controlled by the computer. The housing 311 provides thewater to the three zones. As illustrated, if the spray patterns 800 aresynchronized with the music from the speakers 74, an entertainmenteffect is achieved in addition to watering the golf course.

FIG. 27 shows another embodiment where the nozzle apparatus 135 are usedas around a water pool, 515 in a distributive manner. In FIG. 27, theenclosed nozzle apparatuses 135 are located around the water pool andconnected via a pipe 164 to either the water supply or re-circulationpump. An inlet pipe 166 is connected after valve 162, which iscontrolled by controller 60. The controller 60 also controls lights 72and 73 along with the fountain apparatus position the water streams 800over the water 550. As the music plays through the speaker 74, theenclosed nozzle apparatus 135 are synchronized together with the musicto provide a water show.

The software, data patterns, and the like illustrated and describedherein can exist in a variety of forms both active and inactive. Forexample, software can exist partially or wholly in the form of sourcecode, object code, executable code or other formats. Any of the abovecan be embodied in compressed or uncompressed form on acomputer-readable medium, which include storage devices. Exemplarycomputer-readable storage devices include conventional computer systemRAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable,Programmable ROM), EEPROM (Electrically Erasable, Programmable ROM),flash memory and magnetic or optical disks or tapes.

The terms and descriptions used above are set forth by way ofillustration only and are not meant as limitations. Those skilled in theart will recognize that those and many other variations, enhancementsand modifications of the concepts described herein are possible withoutdeparting from the underlying principles of the invention. The scope ofthe invention should therefore be determined only by the followingclaims and their equivalents.

I claim:
 1. A fountain system comprising: a plurality ofposition-controlled nozzles, that control the direction of a liquidstream coming from each nozzle, wherein each position-controlled nozzleis controlled by a hobby servo attached to each nozzle; a free-formwater structure which surrounds the liquid stream coming from theplurality of nozzles; a re-circulating pump contained in the free-formwater structure that supplies a liquid to the plurality ofposition-controlled nozzles via position-controlled motor valves; and aportable computer configured to synchronize motion of said nozzles viasaid hobby servo and the liquid flow from the nozzles via saidposition-controlled motor valves with a choreographed program.
 2. Afountain system according to claim 1 wherein the portable computercomprises a laptop, PC, a dedicated computer, or an embedded computer.3. A fountain system according to claim 1 wherein the choreographedprogram comprises control of said nozzles and said valves synchronizedto music.
 4. A fountain apparatus comprising: a plurality of directionalnozzles that control the respective directions of respective liquidstreams coming from each nozzle, wherein the nozzles' flow rate iscontrolled by an electric motor connected to the nozzles; and a wirelesstransceiver, included in a converter that supplies to said electricmotor one or more signals based on one or more patterns received from apoi table computer via a wireless two-way communication link, whereinthe portable computer executes a choreographed control program tocontrol the flow rate through the nozzles.
 5. A fountain apparatusaccording to claim 4 wherein the fountain apparatus is an ornamentalfountain apparatus, a spa fountain apparatus, or a pool fountainapparatus.
 6. A fountain apparatus according to claim 4, furthercomprising a sound system, wherein the portable computer is capable ofproducing music synchronized with the nozzles' flow rate.
 7. A fountainapparatus according to claim 4, wherein the portable computer furtherexecutes a MIDI (Musical Instrumental Digital Interface) sequencer tocontrol two or more of music, lights, valves, pump, or nozzles in thefountain apparatus.
 8. A method of operating a plurality of fountainnozzles that emit pressurized water from a re-circulating pump in afountain, the method comprising: creating an electric signal encodingflow rate information choreographed to music stored on a portablecomputer; and providing said electric signal to and from said portablecomputer using a wireless connection and a converter providing anelectric signal to an electric motor fluidly connected to the nozzles,thereby controlling the flow rate from the nozzles.
 9. A methodaccording to claim 8, further comprising: playing music in coordinationwith the flow rate from the nozzle.
 10. A method according to claim 8,further comprising: illuminating one or more lights in coordination withthe flow rate from the nozzle.